AUGUST 12, 2014
INDEX 04 07 04 06 EMITTER REMOVER 07 08 10 12 14 BOXES BELT CONVEYOR BELT CONVEYOR GATE STRAIGHT SPUR CONVEYOR CONVEYOR SCALE 16 17 18 19 20 22 24 26 ALIGNERS WHEEL ALIGNER BRACKET CHUTE CONVEYOR PIVOT ARM SORTER POP UP WHEEL SORTER PUSHER STOP BLADE 16 28 30 32 34 36 38 PALLETS ROLLER CONVEYOR LOADING CONVEYOR CHAIN TRANSFER TURNTABLE ROLLER STOP 40 42 44 46 48 CAPACITIVE SENSOR INDUCTIVE SENSOR DIFFUSE SENSOR RETROREFLECTIVE SENSOR + REFLECTOR LIGHT ARRAY 50 52 54 56 58 EMERGENCY STOP PUSH BUTTON POTENTIOMETER LIGHT INDICATOR EMERGENCY STOP 28 40 50 58 60 62 WARNING LIGHT ALARM SIREN VISUAL STATUS INDICATOR 64 67 70 72 ELEVATOR PICK & PLACE RACK STACKER CRANE 76 77 78 80 PLATFORMS STAIRS HANDRAILS SAFEGUARD 58 64 76
EMITTER DESCRIPTION Emits an item to be used in scene (e.g. cardboard box, pallet). While an item is still within the emitter volume, no more items are emitted. It is possible to select which part(s) or base(s) to emit, the time between emissions, the amount of items to emit and a random item position and/or orientation. A binary value starts the emit cycle. CHARACTERISTICS 04 Base to Emit: Part to Emit: The base to emit (Pallet, Square Pallet or None). If more than one option is selected the emitter will emit randomly. If, at least, one base is selected, None allow to randomly emit a part without a base. The part to emit (Box (S), Box (M), Box (L) or None). If more than one option is selected the emitter will emit randomly. If, at least, one part is selected, None allow to randomly emit a base without a part.
Max/ Min Time: Random Position/ Orientation: The emission time interval. The emitter will randomly emit between the Min and Max time limits. If Max and Min time limits are set to zero, the emitter will emit as soon as no item is within its volume. Each emitted part will appear at random positions and/or orientations. Up to: The number of items to emit. If this value it set to zero, the emitter will emit up to the maximum number of items allowed in scene (500). CONTROL Configuration Tag I/O Type Description Default Emitter # (Emit) Start emitting 0.5 1.125 0.875 (Unit: meters) 05
REMOVER DESCRIPTION Removes one or more items from the scene (e.g. cardboard box, pallet) when they intersect its volume. A binary value enables the remover. CONTROL Configuration Tag I/O Type Description Default Remover # (Remove) Start removing 0.5 1.125 (Unit: meters) 06 0.875
BOXES INTRODUCTION CHARACTERISTICS Cardboard box, used for packaging dry materials and goods. Easy to handle and commonly found in industrial plants. Weight: 8 Kg, 10 Kg and 15 kg S M L 0.36 0.24 0.6 0.24 0.6 0.24 0.36 0.36 (Unit: meters) 07
BELT CONVEYOR DESCRIPTION CHARACTERISTICS Medium duty slider bed straight belt conveyor, suited for transportation of low load units (e.g. cardboard boxes). The conveyor can be controlled by binary and analog values, according to the selected configuration. Conveying speed: 0.6 m/s (Discrete); 3 m/s (Analog) CONTROL Configuration Tag I/O Type Description Discrete Belt Conveyor (4m, 6m) # Rotate in arrows direction Discrete (+/-) Belt Conveyor (4m, 6m) # (+) Belt Conveyor (4m, 6m) # (-) Rotate in both directions Analog Belt Conveyor (4m, 6m) # (V) Float [-10, 10]V: set the conveying speed in both direction 08
0.875 4 0.875 6 1 (Unit: meters) 09
BELT CONVEYOR GATE DESCRIPTION CHARACTERISTICS Powered slider bed belt conveyor gate, suited for transportation of low load units (e.g. cardboard boxes). Specially designed to provide a passageway to personnel. Equipped with a proximity sensor able to recognize its rest position. The conveyor can be controlled by binary and analog values, according to the selected configuration. Possible opening angle: 100o Conveying speed: 0.6 m/s (Discrete); 3 m/s (Analog) CONTROL Configuration Tag I/O Type Description Discrete Belt Conveyor Gate # Belt Conveyor Gate # (Opened) Rotate in the arrows direction Gate is open Discrete (+/-) Belt Conveyor Gate # (+) Belt Conveyor Gate # (-) Belt Conveyor Gate # (Opened) Analog Belt Conveyor Gate # (V) Belt Conveyor Gate # (Opened) Float 10 Rotate in both directions Gate is open [-10, 10]V: set the conveying speed in both directions Gate is open
1.125 1.375 0.125 (Unit: meters) 11
STRAIGHT SPUR CONVEYOR DESCRIPTION CHARACTERISTICS Infeed/Outfeed multi belt conveyor, commonly used for accurate merging of small load (such as cardboard boxes) into belt conveyors. The conveyor can be controlled by binary and analog values, according to the selected configuration. Conveying speed: 0.8 m/s (Discrete); 3 m/s (Analog) CONTROL Configuration Tag I/O Type Description Discrete (+/-) Straight Spur Conveyor # (+) Straight Spur Conveyor # (-) Rotate belts in both direction Analog Straight Spur Conveyor # (V) Float [-10, 10]V: set the conveying speed in both directions 12
1. 15 0.53 45 2.83 1 (Unit: meters) 13
CONVEYOR SCALE DESCRIPTION CHARACTERISTICS High speed conveyor scale, used for weight control of light load cargo (e.g. cardboard boxes). It can have different capacities according to the selected configuration. Conveying speed: 0.6 m/s Capacities: 20 and 100 kg CONTROL Configuration Tag I/O Type 20 kg Max. Conveyor Scale # (+) Conveyor Scale # (-) Conveyor Scale # Weight (V) Float Conveyor Scale # (+) Conveyor Scale # (-) Conveyor Scale # Weight (V) Float 100 kg Max. 14 Description Rotate in both directions [0, 10]V: current weight Rotate in both directions [0, 10]V: current weight
1.125 1.125 1.25 (Unit: meters) 15
ALIGNERS DESCRIPTION Thin metal structures ready to be attached to a conveyor and guide the transported cargo. They are commonly used to align misplaced loads and prevent them from falling while transported at high speed. There are three models available (Aligners 1, 2 and 3). 1 2 3 1.75 1.875 0.1 (Unit: meters) 16 3.375
WHEEL ALIGNER DESCRIPTION Disk shaped aligner used when moving items between belt conveyors. 0.114 (Unit: meters) Ø = 0.245 17
BRACKET DESCRIPTION Metal structure mainly used to attach items and as a height barrier. 0.125 1.25 1.125 (Unit: meters) 18
CHUTE CONVEYOR DESCRIPTION Straight chute conveyor, suitable for light load sortation. Normally used to link two handling devices (e.g. belt conveyors), provide accumulation or to convey items between floors. Difficult to control position of the items on the chute conveyor. 1 1.125 1.93 (Unit: meters) 19
PIVOT ARM SORTER DESCRIPTION CHARACTERISTICS The Pivot Arm Sorter is a 45o power face arm diverter, powered by a gearmotor. Equipped with a belt that helps with the sortation by easing the slide of the conveyed items (mainly light load items) on to the next conveyor. The arm can rotate left or right according to the selected configuration. Belt speed: 2 m/s Arm angular speed: 5 rad/s CONTROL Configuration Tag I/O Type Description Pivot Arm Sorter # (Turn) Pivot Arm Sorter # Belt (+) Pivot Arm Sorter # Belt (-) Turn left Turn Left Turn right Turn Right Pivot Arm Sorter # (Turn) Pivot Arm Sorter # Belt (+) Pivot Arm Sorter # Belt (-) 20 Rotate belt in both directions Rotate belt in both directions
0.625 45 0.125 1.375 (Unit: meters) 21
POP UP WHEEL SORTER DESCRIPTION CHARACTERISTICS The 45O double-sided pop up wheel sorter is used to divert material that should maintain its travel direction, via pivoted rollers. It is pneumatically actuated and its wheels are driven by urethane belts. Wheel radius: 50 mm Conveying speed: 2.5 m/s Normally centered Wheels stroke: 3 mm CONTROL Configuration Tag I/O Type Description Default Pop Up Wheel Sorter # (Up) Pop Up Wheel Sorter # (Left) Pop Up Wheel Sorter # (Right) Rise and rotate in arrows direction Turn left. Otherwise return to center Turn right. Otherwise return to center 22
0.375 0.875 0.436 (Unit: meters) 23
PUSHER DESCRIPTION CHARACTERISTICS Pneumatic driven pusher sorter, often used for sortation of light weight cargo (e.g. cardboard boxes). Equipped with two reed sensors, indicating the front and back limits, and an incorporated LVDT which measures the rod position. The pusher can be controlled by binary and analog values, according to the selected configuration. When the Analog configuration is selected the pusher speed can be set and the rod position measured. Default speed: 1 m/s Fast speed: 4 m/s Stroke: 0.9 m CONTROL Configuration Tag I/O Type Description Monostable Pusher # Pusher # (Front Limit) Pusher # (Back Limit) Move forward At front limit At back limit Monostable (Fast) Pusher # Pusher # (Front Limit) Pusher # (Back Limit) Move forward At front limit At back limit 24
Configuration Bistable Analog Tag I/O Type Description Pusher # (+) Pusher # (-) Pusher # (Front Limit) Pusher # (Back Limit) Move forward Move backward At front limit At back limit Pusher # Set Point (V) Pusher # Position (V) Float Float [-10, 10]V: set target speed [0, 10]V: rod position 0.375 0.5 1.125 (Unit: meters) 25
STOP BLADE DESCRIPTION CHARACTERISTICS The stop blade is a pneumatically actuated device, rised in order to stop or accumulate material. Mostly used with light cargo (e.g. cardboard boxes), stops are often used in conjunction with conveying components such as transfers and pushers for aligning products or policing processes. Normally down Stroke: 120 mm CONTROL Configuration Tag I/O Type Description Default Stop Blade # Rise stopper 26
0.12 0.16 0.24 0.83 (Unit: meters) 27
PALLETS DESCRIPTION CHARACTERISTICS Double sided lightweight pallet. Reinforced to withstand heavy weights. Used for stacking and transporting all sorts of cargo. Weight: 10 kg (pallet); 8 kg (square pallet) Color: black and amber 0.775 0.12 1 (Unit: meters) 28 0.775
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ROLLER CONVEYOR DESCRIPTION CHARACTERISTICS Heavy duty roller conveyor, normally used for heavy cargo transportation (e.g. pallets). The conveyor can be controlled by binary and analog values, according to the selected configuration. Roll radius: 46 mm Conveying speed: 0.45 m/s (Discrete); 0.8 m/s (Analog) The spacing between rolls grants the possibility to attach other parts (e.g. stoppers, sensors) for better cargo flow control. CONTROL Configuration Tag I/O Type Description Discrete Roller Conveyor (2m, 4m, 6m) # Roll in the arrows direction Discrete (+/-) Roller Conveyor (2m, 4m, 6m) # (+) Roller Conveyor (2m, 4m, 6m) # (-) Roll in both directions Analog Roller Conveyor (2m, 4m, 6m) # (V) Float [-10, 10]V: set the conveying speed in both directions 30
2 4 6 0.625 1.125 (Unit: meters) 31
LOADING CONVEYOR DESCRIPTION CHARACTERISTICS Heavy duty roller conveyor, normally used to load/unload heavy cargo (e.g. pallets). Specially designed to ease the stacker crane forks passage. The conveyor can be controlled by binary and analog values, according to the selected configuration. Roll radius: 46 mm Conveying speed: 0.45 m/s (Discrete); 0.8 m/s (Analog) CONTROL Configuration Tag I/O Type Description Discrete Loading Conveyor # Roll in the arrows direction Discrete (+/-) Loading Conveyor # (+) Loading Conveyor # (-) Roll in both directions Analog Loading Conveyor # (V) Float [-10, 10]V: set the conveying speed in both directions 32
1.125 0.625 1.375 0.625 (Unit: meters) 33
CHAIN TRANSFER DESCRIPTION CHARACTERISTICS Used to transfer products 90o on to an adjacent conveyor. Ideal for pallets sortation. It is composed by a heavy duty welded construction, rolls and three pneumatic actuated chain tracks with a conveying chain each. Chain track stroke: 40 mm Conveying speed: 0.45 m/s Belt speed: 0.45 m/s CONTROL Configuration Tag I/O Type Default Chain Transfer # (+) Chain Transfer # (-) Chain Transfer # (Left) Chain Transfer # (Right) 34 Description Roll in both directions Rise platform and rotate chain left Rise platform and rotate chain right
0.875 0.625 1.25 (Unit: meters) 35
TURNTABLE DESCRIPTION CHARACTERISTICS Powered heavy duty turntable, normally used for heavy cargo sortation (e.g. pallets). Equipped with free spin periphery rolls and pre-installed sensors (table rotation limits and item position). The turning direction can be reversed, according to the selected configuration. Roll radius: 45 mm Conveying speed: 0.45 m/s Table turning speed: 0.7 rad/s Capacitive sensors range: 0-100 mm CONTROL Configuration Tag I/O Type Monostable Turntable # Roll (+) Turntable # Roll (-) Turntable # Turn Turntable # (Front Limit) Turntable # (Back Limit) Turntable # (Limit 0) Turntable # (Limit 90) 36 Description Roll in both directions Turn in the arrows direction Detecting Detecting Table at minimum limit Table at maximum limit
Configuration Tag I/O Type Bistable Turntable # Roll (+) Turntable # Roll (-) Turntable # (+) Turntable # (-) Turntable # (Front Limit) Turntable # (Back Limit) Turntable # (Limit 0) Turntable # (Limit 90) Description Roll in both directions Turn in both directions Detecting Detecting Table at minimum limit Table at maximum limit 0.625 1.875 1.875 (Unit: meters) 37
ROLLER STOP DESCRIPTION CHARACTERISTICS The roller stop is a pneumatically actuated device, rised in order to stop or accumulate material, mostly used with heavy cargo (e.g. pallets). Stops are often used in conjunction with conveying components such as transfers to prevent collisions between parts. Its small width allows it to be attached to a roller conveyor in between rolls. Normally down Stroke: 100 mm CONTROL Configuration Tag I/O Type Description Default Roller Stop # Rise stopper 38
0.12 0.1 0.35 0.873 (Unit: meters) 39
CAPACITIVE SENSOR DESCRIPTION CHARACTERISTICS Proximity sensor used for close detection of any material. It is equipped with a LED which indicates the presence of an object within range. The output value can be of the binary or analog type, according to the selected configuration. LED: green (detecting) Detectable materials: all Sensing range: 0-100 mm CONTROL Configuration Tag I/O Type Description Discrete Capacitive Sensor # Detecting Analog Capacitive Sensor # (V) Float [0, 10]V: distance between sensor and detected object 40
0.095 0.115 0.085 (Unit: meters) 41
INDUCTIVE SENSOR DESCRIPTION CHARACTERISTICS Proximity sensor used for close detection of conductive materials. It is equipped with a LED which indicates the presence of an object within range. The output value can be of the binary or analog type, according to the selected configuration. LED: red (detecting) Detectable materials: conductive Sensing range: 0-100 mm CONTROL Configuration Tag I/O Type Description Discrete Inductive Sensor # Detecting Analog Inductive Sensor # (V) Float [0, 10]V: distance between sensor and detected object 42
0.09 0.115 0.07 (Unit: meters) 43
DIFFUSE SENSOR DESCRIPTION CHARACTERISTICS Diffuse photoelectric sensor. Due to its long range can be used in many applications. It can detect all sorts of objects. It is equipped with a LED which indicates an object within range. LED: red (detecting) Detectable materials: all Sensing range: 0-0.8 m CONTROL Configuration Tag I/O Type Description Default Diffuse Sensor # Detecting 44
0.06 0.03 0.075 0.08 0.093 (Unit: meters) 45
RETROREFLECTIVE SENSOR + REFLECTOR DESCRIPTION CHARACTERISTICS Retroreflective photoelectric sensor. Unlike other sensors, requires a reflector. It must be properly aligned and facing the reflector. It is equipped with two LEDs which indicate the correct alignment with the reflector (green) and the detection status (yellow). An object is detected when it interrupts the light beam. Green LED: aligned with reflector Yellow LED: light beam not interrupted Detectable materials: all Sensing range: 0-6 m CONTROL Configuration Tag I/O Type Description Default Retroreflective Sensor # Light beam interrupted 46
0.06 0.035 0.042 0.05 0.1 0.085 0.1 0.093 (Unit: meters) 47
LIGHT ARRAY DESCRIPTION CHARACTERISTICS A set of light beams arranged in parallel that can detect the presence of objects. It is composed by an emitter and a receiver. To ensure the synchronism between the two devices, both must be properly aligned and facing each other. Once this alignment is guaranteed (indicated by a green LED) all beams can be interrupted without breaking the synchronism between the emitter and receiver. The light array detection values are provided in the form of binary, numerical or analog values, according to the selected configuration. Number of beams: 8 Range: 1.5 m Analog value = ( 10 / number of beams ) * number of interrupted beams CONTROL Configuration Tag I/O Type Description Numerical Light Array # (Value) Integer Interrupted Beams Discrete Light Array # (Beam 1) Light Array # (Beam 2) Light Array # (Beam 3) Light Array # (Beam 4) Light Array # (Beam 5) Light Array # (Beam 6) Light Array # (Beam 7) Light Array # (Beam 8) Detecting Detecting Detecting Detecting Detecting Detecting Detecting Detecting 48
Configuration Tag I/O Type Description Analog Light Array # (V) Float [0, 10] V: number of interrupted beams 1.25 0.07 0.05 (Unit: meters) 49
EMERGENCY STOP DESCRIPTION CHARACTERISTICS Two position red trigger action, twist-to-release and non-illuminated push button. Mushroom head. Usually used in emergency events. Normally closed contact type CONTROL Configuration Tag I/O Type Description Default Emergency Stop # Emergency stop was activated 50
0.125 0.125 0.125 (Unit: meters) 51
PUSH BUTTON DESCRIPTION CHARACTERISTICS Illuminated push button. Three different types available (Start, Reset and Stop). The push button can be used as momentary or alternate action, according to the selected configuration. Normally closed contact type for the Stop button CONTROL Configuration Tag I/O Type Description Momentary Action (Start, Reset or Stop) Button # (Start, Reset or Stop) Button # (Light) Push button is down Light button Alternate Action (Start, Reset or Stop) Button # (Start, Reset or Stop) Button # (Light) Push button is down Light button 52
0.125 0.125 0.125 (Unit: meters) 53
POTENTIOMETER DESCRIPTION Used to generate an analog value proportional to the potentiometer knob rotation. The value range can be defined by the selected configuration. CONTROL Configuration Tag I/O Type Description [0, 10] V Potentiometer # (V) Float Current value [-10, 10] V Potentiometer # (V) Float Current value [-5, 5] V Potentiometer # (V) Float Current value 54
0.125 0.125 0.125 (Unit: meters) 55
LIGHT INDICATOR DESCRIPTION CHARACTERISTICS Panel mount light indicator. Commonly used on instrument panels, for safety applications or status indication. Four colors available (blue, red, green and yellow) CONTROL Configuration Tag I/O Type Description Default Light Indicator (Blue, Red, Green or Yellow) # Light lamp 56
0.125 0.125 0.125 (Unit: meters) 57
WARNING LIGHT DESCRIPTION Rotating lamp. Mainly used for areas where caution should be exercised, such as process control, start-up, overhead door movement, or where action or movement requires attention. CONTROL Configuration Tag I/O Type Description Default Warning Light # Light and rotate lamp 58
0.25 0.125 0.125 (Unit: meters) 59
ALARM SIREN DESCRIPTION CHARACTERISTICS Audible alarm. The alarm siren is used as alarm, warning or signalling device. Due to the high volume and penetrating wail of the siren, the signal is also audible in noisy surroundings. On the back, a LED indicates whether the siren is active. LED: red (activated) CONTROL Configuration Tag I/O Type Description Default Alarm Siren # Activate siren 60
0.188 0.188 (Unit: meters) 0.219 61
VISUAL STATUS INDICATOR DESCRIPTION Signalling tower comprising three lamps. It can be used in almost all fields where clear identification of, for example, machine statuses is vital. CONTROL Configuration Tag I/O Type Description Default Visual Status Indicator # (Red) Visual Status Indicator # (Yellow) Visual Status Indicator # (Green) Light red lamp Light yellow lamp Light green lamp 62
1.75 0.085 (Unit: meters) 63
ELEVATOR DESCRIPTION CHARACTERISTICS Heavy duty chain driven elevator, used for transportation of all sorts of cargo between floors. Equipped with two retroreflective sensors, placed at the ends of the conveyor. Sensors may be attached to the elevator structure to detect the platform height. The elevator can be controlled by binary and analog values, according to the selected configuration. Roll radius: 45 mm Platform stroke: 7 m Platform speed: 0.68 m/s Conveying speed: 0.45 m/s (Discrete); 0.8 m/s (Analog) Retroreflective sensor LED: green (detecting reflector), yellow (beam not interrupted) CONTROL Configuration Tag I/O Type Discrete Elevator # (Up) Elevator # (Down) Elevator # (Slow) Elevator # (+) Elevator # (-) Elevator # (Left Limit) Elevator # (Right Limit) 64 Description Move platform in both direction Slow platform (20% of default speed) Roll in both directions Item detected Item detected
Configuration Tag I/O Type Description Analog Elevator # Set Point (V) Elevator # Roll (V) Elevator # (Position) Elevator # (Left Limit) Elevator # (Right Limit) Float Float Float [0, 10]V: set the target position [-10, 10]V: set the conveying speed in both directions [0, 10]V: current position Item detected Item detected 65
1.875 3.125 8.375 3.125 (Unit: meters) 66 1.875
PICK & PLACE DESCRIPTION CHARACTERISTICS Gantry Pick & Place station with three axes controlled by servomotors. Often used to move light load cargo (e.g. cardboard boxes) on to other conveyors or pallets, or even for palletizing purposes. The Pick & Place has four degrees of freedom, three corresponding to the linear beams movement and one to the angular grabbing device rotation. The grabbing device (gripper) is enabled by suction cups and includes a proximity sensor. The Pick & Place can be controlled by binary and analog values, according to the selected configuration. If ruled by the Discrete configuration the Pick & Place beams move step by step. Each binary rising edge makes the desired beam move a step in the selected direction. When the selected configuration is Analog, each axis can be controlled by setting the target position. Y-axis stroke: 1.25 m X-axis stroke: 2.125 m Z-axis stroke: 0.5 m Step: 0.125 m Beams speed: 1.5 m/s Gripper angular speed: 4.6 rad/s 67
CONTROL Configuration Tag I/O Type Discrete Pick & Place # X(+) Pick & Place # X(-) Pick & Place # Y(+) Pick & Place # Y(-) Pick & Place # Z(+) Pick & Place # Z(-) Pick & Place # C(+) Pick & Place # Grab Pick & Place # (Mozing-Z) Pick & Place # (Moving-XY) Pick & Place # (Box Detected) Pick & Place # (C Limit) Analog Pick & Place # X Set Point (V) Pick & Place # Y Set Point (V) Pick & Place # Z Set Point (V) Pick & Place # C (+) Pick & Place # Grab (+) Pick & Place # X Position (V) Pick & Place # Y Position (V) Pick & Place # Z Position (V) Pick & Place # (Box Detected) Pick & Place # (C Limit) Float Float Float Float Float Float 68 Description Take a step along X-axis Take a step along Y-axis Take a step along Z-axis Rotate gripper Supply air to suction cups Moving along Z-axis Moving along XY-plane Detecting Gripper at angular limit [0, 10]V: set the target position along X-axis [0, 10]V: set the target position along Y-axis [0, 10]V: set the target position along Z-axis Rotate gripper Supply air to suction cups [0, 10]V: current position along X-axis [0, 10]V: current position along Y-axis [0, 10]V: current position along Z-axis Detecting Gripper at angular limit
2.125 3.625 2.375 3.625 (Unit: meters) 69
RACK DESCRIPTION CHARACTERISTICS Upright steel frames connected by horizontal steel beams with the only purpose to store loads, usually heavy loads such as pallets. Number of cells: 18 The available rack is single-deep rack type, also known as selective rack, it only allows loads to be stored one pallet deep. Pallets can be stored from both sides of the rack. 70
1.125 1.25 7.625 1.125 0.875 3.375 (Unit: meters) 71
STACKER CRANE DESCRIPTION CHARACTERISTICS Rail mounted stacker crane, normally used to stock heavy cargo (e.g. pallets). Composed by a cart, a platform that moves vertically and two forks that can slide to both sides. Forks stroke: 1.2 m Cart stroke: 10.5 m Platform stroke: 6.625 m Cart speed: 1.4 m/s Forks speed: 0.5 m/s Platform speed: 1.7 m/s Two laser rangefinders, placed on the cart and platform, measure the horizontal and vertical position of the platform. Two guide rails indicate the correct positioning of racks. Each rack must be aligned with one of the rail ends, thus they will be correctly placed allowing the stacker crane to stop at the correct cell position. The stacker crane can be controlled by binary, byte and analog values, according to the selected configuration. Each stacker crane can have a maximum of 54 cells. If the Numerical configuration is selected, the target cell can be defined by an integer value between 1 and 54. When that value is zero, the stacker crane is locked, however if it is greater than 54, the stacker crane will move to its rest position. If the Analog configuration is selected, the target position along the desired axis is set, and the current position of each axis measured. When Discrete configuration is selected, each cell number is encoded by five binary values (see the following table). 72 Position Actuators 0 1 2 3 4 5.................. Locked 1 2 3... 55 (Rest)
CONTROL Configuration Tag I/O Type Description Numerical Stacker Crane # (Target Position) Stacker Crane # (Left) Stacker Crane # (Right) Stacker Crane # (Lift) Stacker Crane # (Mozing-X) Stacker Crane # (Moving-Z) Stacker Crane # (Left Limit) Stacker Crane # (Middle Limit) Stacker Crane # (Right Limit) Integer [1, 54]: Move to desired cell Move forks left Move forks right Slightly rise platform to assist in load/unload Moving along X-axis Moving along Z-axis Forks at left limit Forks at middle Forks at right limit Analog Stacker Crane # X Set Point (V) Stacker Crane # Z Set Point (V) Stacker Crane # (Left) Stacker Crane # (Right) Stacker Crane # X Position (V) Stacker Crane # Z Position (V) Stacker Crane # (Left Limit) Stacker Crane # (Middle Limit) Stacker Crane # (Right Limit) Float Float Float Float [0, 10]V: set the target position along Z-axis [0, 10]V: set the target position along Z-axis Move forks left Move forks right [0, 10]V: current position along X-axis [0, 10]V: current position along Z-axis Forks at left limit Forks at middle Forks at right limit Discrete Stacker Crane # (Target Position 0) Stacker Crane # (Target Position 1) Stacker Crane # (Target Position 2) Stacker Crane # (Target Position 3) Stacker Crane # (Target Position 4) Stacker Crane # (Target Position 5) Stacker Crane # (Left) Stacker Crane # (Right) Stacker Crane # (Lift) Stacker Crane # (Moving-X) Stacker Crane # (Movintg-Z) Stacker Crane # (Left Limit) Stacker Crane # (Middle Limit) Stacker Crane # (Right Limit) Target position encoding bit (least significant) Target position encoding bit Target position encoding bit Target position encoding bit Target position encoding bit Target position encoding bit (most significant) Move forks left Move forks right Slightly rise platform to assist in load/unload Moving along X - axis Moving along Z - axis Forks at left limit Forks at middle Forks at right limit 73
1.375 8.25 14.625 (Unit: meters) 74
46 47 48 49 50 51 52 53 54 37 38 39 40 41 42 43 44 45 28 29 30 31 32 33 34 35 36 19 20 21 22 23 24 25 26 27 10 11 12 13 14 15 16 17 18 1 2 3 4 5 6 7 8 9 55 75
PLATFORMS DESCRIPTION Metal structures used to create floors at the desired height. This feature allows to build systems in a vertical way, saving shop floor space. There are three models available (Small, Medium and Large sizes). S M L 0.25 3.5 1.125 1.125 (Unit: meters) 76 2 3.5
STAIRS DESCRIPTION Metal structures available to provide operators access to higher floors. 2.5 1.625 2.25 1.125 77
HANDRAILS DESCRIPTION Metal tube structures used to provide safety to operators in a industrial plant. They can define danger perimeters and isolate caution zones or guarantee safe paths in higher floors. There are four models available (Small, Medium, Large lengths and Corner Handrail designed to define corner fits). 78
S 1.125 CORNER HANDRAIL M 1.125 2 0.05 L 1.125 0.875 3.5 (Unit: meters) 79
SAFEGUARD DESCRIPTION Grid metal structures commonly used to define danger perimeters arround machines or working areas. Its main purpose is to provide safety to operators of an industrial plant. 80
0.125 1.5 2 (Unit: meters) 81